WO2018072712A1 - Agv运输车及其控制方法 - Google Patents

Agv运输车及其控制方法 Download PDF

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Publication number
WO2018072712A1
WO2018072712A1 PCT/CN2017/106719 CN2017106719W WO2018072712A1 WO 2018072712 A1 WO2018072712 A1 WO 2018072712A1 CN 2017106719 W CN2017106719 W CN 2017106719W WO 2018072712 A1 WO2018072712 A1 WO 2018072712A1
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WIPO (PCT)
Prior art keywords
transport vehicle
navigation
agv transport
control device
dimensional code
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PCT/CN2017/106719
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English (en)
French (fr)
Inventor
商春鹏
于宗靖
汤敬仁
Original Assignee
北京京东尚科信息技术有限公司
北京京东世纪贸易有限公司
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Publication of WO2018072712A1 publication Critical patent/WO2018072712A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector

Definitions

  • the present disclosure relates to the field of warehousing and transportation technology, and in particular to an AGV transport vehicle and a control method thereof.
  • AGV Automated Guided Vehicle
  • AGV robots are used in large quantities in warehouses to transport goods to people or robots. This will save a lot of manpower, improve efficiency, and adapt to industrial occasions.
  • the usual navigation methods of AGV transport vehicles are tape navigation, RFID navigation, etc.
  • tape navigation and RFID navigation is relatively large, and the cost of changing the warehouse layout is large, and the daily maintenance of tape navigation and RFID navigation is compared. difficult.
  • the direction of the loaded items also changes. When the passage is narrow, collisions are likely to occur, causing unnecessary losses.
  • One or more embodiments of the present disclosure provide an AGV transport vehicle and a control method thereof, which are capable of obtaining navigation information by scanning a two-dimensional code.
  • An embodiment of the present disclosure provides an AGV transport vehicle including a travel drive motor, further comprising: a two-dimensional code reader for collecting navigation information by scanning a two-dimensional code in a two-dimensional code navigation belt, and transmitting the navigation information Go to the master device; the master device is configured to send the navigation information to the console, so that the console determines a navigation control instruction based on the navigation information; and receives the navigation control instruction from the console And controlling the running of the traveling drive motor based on the navigation control command to adjust a traveling direction of the AGV transport vehicle.
  • the two-dimensional code reader reads a code value from the two-dimensional code, and determines a scan angle and a position deviation for the two-dimensional code; the master device uses the code value, a scan angle and a position deviation are sent to the console; the console generates a navigation control command based on the code value, a scan angle, and a position deviation and transmits the command to the master device; the master device controls the navigation according to the navigation Commanding to control the travel drive motor to run straight and/or turn move.
  • an inertial navigation sensor is configured to collect acceleration and angular acceleration information of the AGV transport vehicle, and send acceleration and angular acceleration information to the main control device; and an encoder for collecting wheel speed information of the AGV transport vehicle, And transmitting the wheel speed information to the main control device; the main control device sends the acceleration, angular acceleration, and wheel speed information to the console; the console according to the acceleration, angular acceleration, The wheel speed information determines an operating state of the AGV transport vehicle, generates an operation control command according to the motion state, and sends the operation control command to the main control device; the main control device controls the travel drive motor to operate according to the operation control command, and adjusts / or keep running.
  • the method further includes: a rotating electrical machine; the rotating electrical machine and the lifting turret are connected by a transmission mechanism; when the AGV transport vehicle performs a turning motion, the main control device sends a reverse rotation command to the rotating electrical machine, and the control station
  • the rotary electric machine drives the lift turret to rotate in a reverse direction with respect to the turning direction of the AGV transport vehicle so that the cargo on the lift turret remains unchanged with respect to the ground.
  • the method further includes: a battery device; the main control device monitors a power quantity of the battery device, and when it is determined that the power of the battery device drops to an unworkable state, controlling the AGV transport vehicle after the current task is completed Run to the charging point for charging.
  • the method further includes: two driving wheels respectively disposed on two sides of the bottom of the vehicle body; the number of the traveling driving motors is two, and the traveling driving motor is disposed corresponding to the driving wheels one by one, and is driven by the transmission
  • the device is coupled to the drive wheel; the master device effects a straight and/or turning motion by controlling two of the travel drive motors.
  • the method further includes: an obstacle detecting device, configured to detect whether there is an obstacle in front of the running, and send the detection result to the main control device.
  • an obstacle detecting device configured to detect whether there is an obstacle in front of the running, and send the detection result to the main control device.
  • An embodiment of the present disclosure provides an AGV transport vehicle including: a rotating electrical machine and a main control device; the rotating electric machine and the lifting turret are connected by a transmission mechanism; the main control device rotates according to a turning motion of the AGV transport vehicle The motor sends a reverse rotation command that controls the rotary motor to drive the lift turret to rotate in a reverse direction relative to the turning direction of the AGV transporter so that the cargo on the lift turret remains unchanged relative to the ground.
  • the transmission mechanism comprises: a gear transmission mechanism.
  • An embodiment of the present disclosure provides a control method of an AGV transport vehicle, including: a two-dimensional code reader collects navigation information by scanning a two-dimensional code in a two-dimensional code navigation belt, and transmits the navigation information to the main control device.
  • the master device transmits the navigation information to a console, so that the console determines a navigation control instruction based on the navigation information; the master control device receives the navigation control instruction sent by the console,
  • the travel drive motor is controlled to operate based on the navigation control command to adjust a travel direction of the AGV transport vehicle.
  • the two-dimensional code reader collects the navigation information by scanning the two-dimensional code in the two-dimensional code navigation belt, including: the two-dimensional code reader reads the code value from the two-dimensional code, and determines that a scanning angle and a position deviation of the two-dimensional code; the main control device sends the navigation information to a console, so that the console determines, according to the navigation information, that the navigation control instruction comprises: the main control device Transmitting a code value, a scan angle, and a position deviation to the console; the console generates a navigation control command based on the code value, a scan angle, and a position deviation; the master device controls the said based on the navigation control instruction
  • the traveling drive motor operation includes: the main control device controls the running of the traveling drive motor according to the navigation control command to perform a straight line and/or a turning motion.
  • the inertial navigation sensor collects acceleration and angular acceleration information of the AGV transport vehicle, and sends acceleration and angular acceleration information to the main control device;
  • the encoder collects wheel speed information of the AGV transport vehicle, and the wheel speed is Sending information to the main control device;
  • the main control device transmits the acceleration, angular acceleration, and wheel rotational speed information to the console;
  • the console determines AGV transportation according to the acceleration, angular acceleration, and wheel rotational speed information
  • the running state of the vehicle generates an operation control command according to the motion state and sends the operation control command to the main control device;
  • the main control device controls the running of the traveling drive motor according to the operation control command to adjust and/or maintain an operating state.
  • the main control device sends a reverse rotation command to the rotating electrical machine; the rotating electrical machine drives the lifting rotary table to transport relative to the AGV according to the reverse rotation command
  • the turning direction of the car is reversed so that the goods on the lifting turret remain in the same direction with respect to the ground.
  • the main control device monitors the power of the battery device, and when it is determined that the power of the battery device drops to an unworkable state, the AGV transport vehicle is controlled to run to the charging point for charging after the current task is completed. .
  • the number of the traveling drive motors is two, and the traveling drive motor is disposed in one-to-one correspondence with the driving wheels, and further includes: the main control device realizes straight line and/or by controlling two of the traveling drive motors. Turning movement.
  • the obstacle detecting device detects that there is an obstacle in front of the AGV transport vehicle, and sends the detection result to the main control device; the main control device controls the traveling drive motor to perform deceleration or stop, and to the control The station sends an alarm message.
  • the AGV transport vehicle and the control method thereof provided by the present disclosure obtain navigation information by scanning a two-dimensional code, and the cost for the warehouse layout modification is small, and the daily maintenance is simple; the direction of transporting the goods is maintained by rotating The same, you can reduce the channel width and increase the storage density of the warehouse.
  • FIG. 1 is a schematic view showing the composition of an embodiment of an AGV transport vehicle according to the present disclosure
  • FIG. 2 is a schematic diagram of determining a scanning angle and a positional deviation for a two-dimensional code by a two-dimensional code reader
  • FIG. 3 is a schematic view showing the composition of another embodiment of an AGV transport vehicle according to the present disclosure.
  • Figure 4 is a schematic view of deployment of each component on an AGV transport vehicle
  • FIG. 5A is a schematic view showing the composition of still another embodiment of an AGV transport vehicle according to the present disclosure.
  • 5B and 5C are schematic structural views of a screw lifting mechanism and a rotating electrical machine
  • FIG. 6 is a flow diagram of one embodiment of a method of controlling an AGV transport vehicle in accordance with the present disclosure.
  • the present disclosure provides an AGV transport vehicle comprising: a two-dimensional code reader 11, a master device 10, and a travel drive motor 12.
  • the two-dimensional code reader 11 collects the navigation information by scanning the two-dimensional code in the two-dimensional code navigation belt, and transmits the navigation information to the main control device 10.
  • the two-dimensional code navigation belt can be set on the ground and composed of a plurality of two-dimensional codes arranged at a certain interval.
  • the two-dimensional code is generally attached to the center line of the channel and has a certain angle.
  • the two-dimensional code information is a code value, and the position coordinate information of the current position in the entire warehouse can be obtained by the code value.
  • the master device 10 transmits the navigation information to the console, and the console determines the navigation control command based on the navigation information.
  • the main control device 10 receives the navigation control command from the console, controls the operation of the traveling drive motor 12 based on the navigation control command, and adjusts the traveling direction of the AGV transport vehicle.
  • the two-dimensional code reader 11 reads the code value from the two-dimensional code, and determines the scanning angle and position deviation for the two-dimensional code, and the navigation information includes: a code value, a scanning angle, and a position deviation.
  • the master device 10 transmits information such as code values, scan angles, and positional deviations to the console, and the console determines the current location of the AGV transport vehicle based on the code value, ie, the location in the warehouse. Deviation of the two-dimensional code navigation belt in the AGV transport vehicle and the passage is determined by the scanning angle and the position deviation, that is, whether the AGV transport vehicle is running on the center line of the passage, and whether the running direction is oriented with the two-dimensional code attached to the ground.
  • the console generates navigation control commands and sends them to the main control device 10, which controls the operation of the traveling drive motor 12 according to the navigation control commands to perform straight and/or turning motions.
  • the AGV transport vehicle travels on the walking path, and when passing the two-dimensional code on the ground, the two-dimensional code reader 11 scans the two-dimensional code and photographs the ground image 20.
  • the coordinate system ABC is a position coordinate system of the two-dimensional code
  • the OXY coordinate system is a coordinate system of the ground image 20 captured by the two-dimensional code reader 11.
  • the two-dimensional code reader 11 reads the code value from the two-dimensional code, and calculates the scanning off-angle of the two-dimensional code through the positioning images 21, 22, 23 on the two-dimensional code, and the center point of the two-dimensional code. Positional deviation.
  • the positioning images 21, 22, 23 are three images at positions where all the two-dimensional code graphic information are fixed.
  • the angle between the center line of the positioning images 21, 22 and the X-axis is the scanning angle of the AGV transporter (i.e., the two-dimensional code reader 11) for the two-dimensional code.
  • the distance between the center of the image 20 and the center of the two-dimensional code is the positional deviation of the AGV transport vehicle (i.e., the two-dimensional code reader 11) from the two-dimensional code.
  • the console generates navigation control commands based on the schedule and code values, scan angles, and positional deviations.
  • the two-dimensional code of different code values is pasted according to a certain rule on the pavement of the warehouse to form a two-dimensional code navigation belt, and the position information corresponding to the two-dimensional code is recorded into the map database.
  • the two-dimensional code reader 11 installed on the AGV transport vehicle body scans the two-dimensional code on the ground to obtain navigation information.
  • the inertial navigation sensor 13 collects information such as acceleration and angular acceleration of the AGV transport vehicle, and transmits information such as acceleration and angular acceleration to the main control device 10.
  • the encoder 14 collects the wheel speed information of the AGV transport vehicle and transmits the wheel speed information to the main control unit 10.
  • the master device sends information such as acceleration, angular acceleration, and wheel speed to the console.
  • the console determines the running state of the AGV transport vehicle based on the acceleration, angular acceleration, and wheel speed information, and generates an operation control command according to the motion state.
  • the main control device 10 controls the running of the traveling drive motor according to the operation control command to adjust and maintain the operating state.
  • the two-dimensional code reader 11, the inertial navigation sensor 13, and the encoder 14 can be used for integrated navigation and control.
  • the two-dimensional code image is laid on the ground according to the warehouse layout design, and the two-dimensional code reader 11 scans the two-dimensional code to obtain angular deviation, positional deviation, code value, etc., and the inertial navigation sensor 13 obtains acceleration and angular acceleration information, and the encoder 14 can Obtain wheel speed information. Kalman filtering of these data can accurately know the movement state of the car, and can accurately navigate and control the car.
  • the main control device 10 realizes straight-forward and turning motion by controlling the traveling drive motor 12.
  • two driving wheels are respectively disposed on two sides of the bottom of the vehicle body, and the number of the traveling driving motors 12 is two, and the traveling driving motor 12 is disposed in one-to-one correspondence with the driving wheels, and is connected to the driving wheels through a transmission device.
  • the main control device 10 controls the rotational speeds of the two traveling drive motors 12, When the rotation speed is the same, the two driving wheels rotate at the same speed and carry out straight transportation. When the rotation speed is not the same, the two driving wheels rotate at different speeds to perform the turning motion.
  • the main control device 10 drives the lift motor 18 to drive the lift turret to rise or fall, and the lift turret is used to lift the cargo.
  • the rotating electric machine 16 is connected to the lifting turret through a transmission mechanism.
  • the main control device 10 sends a reverse rotation command to the rotating electric machine 16, and controls the rotating electric machine 16 to drive the turning of the lifting turret relative to the AGV transport vehicle.
  • the direction is reversed so that the cargo on the lift turret remains in the same direction relative to the ground.
  • the traveling control motor 12 is controlled to perform a turning motion by the differential control algorithm, and the rotating motor 16 is controlled to rotate the lifting turret, and the lifting turret is rotated to perform the same rotation at the opposite speed.
  • exercise you can keep the direction of the goods unchanged.
  • the lifting turret of the AGV transporter keeps the direction of the cargo in the middle of transportation during transportation, which can reduce the drop of goods during the turning process, and the reserved width of the passage does not need to reserve too much space and reduce the storage cost.
  • the main control device 10 monitors the amount of power of the battery device 17. When it is determined that the power of the battery device 17 has dropped to an unworkable state, the AGV transport vehicle is controlled to run to the charging point for charging after the current task is completed.
  • the state of the battery device 17 includes: a full battery, a workable, and a non-workable device.
  • full power means that the current power is greater than 90%
  • non-workable refers to less than 30% of the power
  • the operational power is greater than 30% less than 90%.
  • the AGV truck goes to sleep. In the operational state, if there is a task, the task is executed, and if there is no task, the charging is requested. In the case of non-operation, if there is a task, the current task is executed, the new task is no longer accepted, and charging is requested.
  • the obstacle detecting device 15 detects whether there is an obstacle in front of the operation, and transmits the detection result to the main control device.
  • the obstacle detecting device 15 can detect whether there is an obstacle in front by radar, ultrasonic wave, image analysis or the like.
  • the main control device 10 can receive the command of the console through WIFI, Bluetooth, 4G, etc., and report the status information of the AGV transport vehicle in real time.
  • the tasks of the console include controlling the AGV transporter to go straight, rotate, charge, and so on.
  • the main control device 10 monitors the state of the entire AGV transport vehicle, including the power, the operation of each subsystem, whether there are obstacles, etc. If there is an abnormality, the main control device 10 first controls the AGV transport vehicle to decelerate or stop, and reports to the console. status information.
  • the main control device 10 can be implemented as a single chip microcomputer, a single board machine, a PLC, an integrated circuit, or the like.
  • the traveling drive motor 12, the rotary electric machine 16, the lift motor 18, and the like may be a stepping motor, a DC servo motor, or the like.
  • the main control device 10 is electrically connected to the traveling drive motor 12, the rotary electric machine 16, and the lift motor 18 to control the operation of the motor.
  • the main control device 10 can be connected to the two-dimensional code reader 11, the inertial navigation sensor 13, the encoder 14, the obstacle detecting device 15, and the like via a bus or the like to receive or transmit information.
  • the transmission mechanism can be a chain drive, a belt drive, a gear drive, and the like.
  • the driven wheels 19, 20, 21, 22 can be universal wheels, which are mounted on the four corners of the AGV transporter and serve as a support.
  • the AGV transporter uses two drive wheels.
  • the drive wheels 23 and 24 can use the rubberized wheel to differentially control the drive wheels 23 and 24 to control the AGV transporter to go straight and rotate.
  • the travel drive motors 12, 12' and the transmission drive drive wheels 23 and 24 operate.
  • the lift motor 18 drives the jacking device to jack up and fall.
  • the rotary electric machine 16 needs to apply a reverse driving force with the rotary electric machine 16 to keep the raised shelf from rotating.
  • the two-dimensional code reader 11 reads information such as the numerical value, the direction angle, and the distance deviation of the two-dimensional code on the ground.
  • the two-dimensional code sensor 25 reads the two-dimensional code value at the bottom of the shelf.
  • the battery unit 17 provides power.
  • the AGV transport vehicle can travel in both directions, and the obstacle detecting devices 15, 15' detect whether or not there is an obstacle in front.
  • the main control device 10 can use the embedded ARM as a core processor, and includes a WiFi interface, a CAN interface, a 485 interface, a 422 interface, and the like.
  • Motion controller 26 can control the motion of the various motors.
  • the charging device 27 is capable of automatic charging.
  • the indicating device 28 includes an indicator light, a speaker, and the like.
  • the present disclosure provides an AGV transport vehicle comprising: a rotating electrical machine 16 and a master control device 10.
  • the rotating electric machine 10 and the lifting turret are connected by a transmission mechanism, and the transmission mechanism includes: a gear transmission mechanism, a chain transmission mechanism and the like.
  • the main control device 10 sends a reverse rotation command to the rotary electric machine 16 according to the turning motion of the AGV transport vehicle, and controls the rotary electric machine 16 to drive the lift rotary table to rotate in the opposite direction with respect to the turning direction of the AGV transport vehicle, so as to lift the goods on the turntable. Keep the direction unchanged relative to the ground.
  • the lifting mechanism of the AGV transport vehicle can be a spiral rotary lifting mechanism.
  • the spiral rotation lifting mechanism includes a lift motor 18, a gear transmission mechanism, a lift turret 56, a lift plate 55, a gear plate 52, and the like.
  • the gear on the outer circumference of the gear plate 52 meshes with the gear 51 of the gear transmission mechanism.
  • An inner threaded hole is provided in the center of the gear plate, and the inner threaded hole is engaged with the bottom of the screw (not shown), the top of the screw is fixedly connected with the lifting plate 55, and the lifting turret 56 is connected with the lifting plate 55 through the bearing. .
  • the rotary electric machine 16 is coupled to the lift turret 56 via a gear transmission mechanism, and the gear on the outer circumference of the lift turret 56 meshes with the gear 54 of the gear transmission mechanism.
  • a cover plate can be mounted on the lift turret 56, the cover plate being in contact with the transported cargo, and the lift limit of the lift turret 56 can be determined by setting a travel switch.
  • the main control device 10 controls the rotation of the lifting motor 18, and the gear plate 52 is rotated by the gear 51.
  • the screw drives the lifting plate 55 and the lifting turret 56 to rise and fall, and the rotating motor 16 and the gear 54 are rotated. Wait for the lift turret 56 to rise and fall.
  • the main control device 10 sends a reverse rotation command to the rotary electric machine 16, controls the rotary electric machine 16 to drive the gear 54 and drives the lifting turret 56 to rotate, so that the lifting turret 56 rotates in the opposite direction with respect to the turning direction of the AGV transporter.
  • the lifting table 56 and the cargo on the cover remain in the same direction with respect to the ground.
  • the AGV transport vehicle and the control method thereof in the above embodiment adopt a two-dimensional code reader, an inertial navigation sensor and an encoder for comprehensive navigation and control, and can accurately navigate and control the trolley; and maintain the transported goods by rotating
  • the direction is unchanged, the channel width can be reduced, and the storage density of the warehouse can be increased.
  • the low-power design can be automatically charged, and the work can be performed for 24 hours, thereby reducing the operating cost of the warehouse.
  • FIG. 6 is a schematic flow chart of one embodiment of a control method of an AGV transport vehicle according to the present disclosure, as shown in FIG.
  • Step 601 The two-dimensional code reader collects navigation information by scanning a two-dimensional code in the two-dimensional code navigation belt, and transmits the navigation information to the main control device.
  • Step 602 The master device sends the navigation information to the console, so that the console determines the navigation control instruction based on the navigation information.
  • Step 603 The master control device receives the navigation control command sent by the console, and controls the running of the traveling drive motor based on the navigation control command to adjust the traveling direction of the AGV transport vehicle.
  • the two-dimensional code reader reads the code value from the two-dimensional code and determines the scanning angle and positional deviation for the two-dimensional code.
  • the master sends the code value, scan angle and position deviation to the console, and the console generates navigation control commands based on the code value, scan angle and position deviation.
  • the main control device controls the running of the traveling drive motor according to the navigation control command to perform a straight line and/or a turning motion.
  • the inertial navigation sensor collects the acceleration and angular acceleration information of the AGV transport vehicle, and transmits the acceleration and angular acceleration information to the main control device.
  • the encoder collects the wheel speed information of the AGV transport vehicle and transmits the wheel speed information to the main control device.
  • the main control device sends the acceleration, angular acceleration, and wheel speed information to the console, and the console determines the running state of the AGV transport vehicle according to the acceleration, angular acceleration, and wheel speed information, and generates an operation control command according to the motion state.
  • the main control device controls the running of the traveling drive motor according to the operation control command to adjust and maintain the running state.
  • the number of traveling drive motors is two, and the traveling drive motor is arranged in one-to-one correspondence with the driving wheels, and the main control device realizes straight and/or turning motion by controlling two traveling drive motors.
  • the master device sends a reverse rotation command to the rotating electrical machine.
  • the rotary motor drives the lift turret to rotate in the opposite direction with respect to the turning direction of the AGV transporter according to the reverse rotation command, so that the cargo on the lift turret remains unchanged with respect to the ground.
  • the main control device monitors the power of the battery device. When it is determined that the battery device's power has dropped to an unworkable state, the AGV transport vehicle is controlled to run to the charging point for charging after the current task is completed.
  • the obstacle detecting device detects an obstacle in front of the AGV transport vehicle, and transmits the detection result to the main control device.
  • the master control unit drives the drive motor to decelerate or stop and sends an alarm message to the console.
  • the AGV transport vehicle and the control method thereof in the above embodiment obtain the navigation information by scanning the two-dimensional code, the cost for the warehouse layout modification is small, and the daily maintenance is simple; the two-dimensional code reader and the inertial navigation sensor can be used.
  • the direction of the goods is unchanged, the channel width can be reduced, the storage density of the warehouse can be increased;
  • the low-power design can be used for automatic charging and can work for 24 hours; it can be applied to the automatic picking of e-commerce, suitable for the warehouse of e-commerce High density, order bursts and other scenarios can greatly reduce the number of personnel and reduce the operating costs of the warehouse.
  • the methods and systems of the present disclosure may be implemented in a number of ways.
  • the methods and systems of the present disclosure may be implemented in software, hardware, firmware, or any combination of software, hardware, or firmware.
  • the above-described sequence of steps for the method is for illustrative purposes only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless otherwise specifically stated.
  • the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine readable instructions for implementing a method in accordance with the present disclosure.
  • the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

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Abstract

一种AGV运输车及其控制方法，其中AGV运输车包括：二维码读码器（11），用于通过扫描二维码导航带中的二维码采集导航信息，并将导航信息发送到主控装置（10）；主控装置（10），用于将导航信息发送到控制台，并基于来自控制台的导航控制指令控制行进驱动电机（12）运行，用以调整AGV运输车的行进方向。该AGV运输车及其控制方法，通过扫描二维码获得导航信息，对于仓库改动所花费的代价较小，并且日常维护简单，进行综合导航、控制，能够对校车进行精确地导航、控制；可以减少通道宽度，提高仓库存储密度，能够进行24小时工作，适用于电商的仓库密度大，订单突发等场景，可以减低人员数量，降低仓库的运营成本。

Description

AGV运输车及其控制方法
本申请是以CN申请号为201610921027.3，申请日为2016年10月21日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及仓储运输技术领域，尤其涉及一种AGV运输车及其控制方法。
背景技术
仓库是用于临时存储物料的场所，在物流领域和工业生产中起着非常重要的作用，仓库的存取方法决定物运输和工业生产的效率。当前，AGV(Automated Guided Vehicle)运输车，也称为AGV机器人，在仓库中大量使用，将货物搬运到人面前或者机器人面前，将大量节省人力投入，提高效率，适应工业的场合。当前，AGV运输车通常的导航方式为磁带导航、RFID导航等，使用磁带导航、RFID导航投入比较大，并且，当仓库布局改动时花费的代价较大，同时磁带导航、RFID导航的日常维护比较困难。并且，当前的AGV运输车在转弯时，所载物品的方向也随之改变，当通道较狭窄时，容易发生碰撞，造成不必要的损失。
发明内容
本公开的一个或多个实施例提供一种AGV运输车及其控制方法，能够通过扫描二维码获得导航信息。
本公开的实施例提供一种AGV运输车，包括行进驱动电机，还包括：二维码读码器，用于通过扫描二维码导航带中的二维码采集导航信息，并将导航信息发送到主控装置；所述主控装置，用于将所述导航信息发送到控制台，以便所述控制台基于所述导航信息确定导航控制指令；接收来自所述控制台的所述导航控制指令，基于所述导航控制指令控制所述行进驱动电机运行，用以调整AGV运输车的行进方向。
可选地，所述二维码读码器从所述二维码中读取码值，并确定对于所述二维码的扫描角度和位置偏差；所述主控装置将所述码值、扫描角度和位置偏差发送到所述控制台；所述控制台基于所述码值、扫描角度和位置偏差生成导航控制指令并发送到所述主控装置；所述主控装置根据所述导航控制指令控制所述行进驱动电机运行，进行直行和/或转弯运 动。
可选地，惯性导航传感器，用于采集AGV运输车的加速度、角加速度信息，并将加速度、角加速度信息发送到所述主控装置；编码器，用于采集AGV运输车的车轮转速信息，并将所述车轮转速信息发送给所述主控装置；所述主控装置将所述加速度、角加速度、车轮转速信息发送到所述控制台；所述控制台根据所述加速度、角加速度、车轮转速信息确定AGV运输车的运行状态，根据所述运动状态生成运行控制指令并发送给所述主控装置；所述主控装置根据所述运行控制指令控制所述行进驱动电机运行，调整和/或保持运行状态。
可选地，还包括：旋转电机；所述旋转电机与举升转台通过传动机构连接；当AGV运输车进行转弯运动时，所述主控装置向所述旋转电机发送反向旋转指令，控制所述旋转电机驱动所述举升转台相对于AGV运输车的转弯方向进行反向旋转，以使所述举升转台上的货物相对于地面保持方向不变。
可选地，还包括：电池装置；所述主控装置监控所述电池装置的电量，当确定所述电池装置的电量下降到不可作业状态时，则在当前任务完成后控制所述AGV运输车运行到充电点进行充电。
可选地，还包括：分别设置在车体底部两侧的2个主动轮；所述行进驱动电机的数量为2个，所述行进驱动电机与所述主动轮一一对应设置，并通过传动装置与所述主动轮连接；所述主控装置通过控制2个所述行进驱动电机实现直行和/或转弯运动。
可选地，还包括：障碍物检测装置，用于检测运行前方是否有障碍物，并将检测结果发送给所述主控装置。
本公开的实施例提供一种AGV运输车，包括：旋转电机和主控装置；所述旋转电机与举升转台通过传动机构连接；所述主控装置根据AGV运输车的转弯运动向所述旋转电机发送反向旋转指令，控制所述旋转电机驱动所述举升转台相对于AGV运输车的转弯方向进行反向旋转，以使所述举升转台上的货物相对于地面保持方向不变。
可选地，所述传动机构包括：齿轮传动机构。
本公开的实施例提供一种AGV运输车的控制方法，包括：二维码读码器通过扫描二维码导航带中的二维码采集导航信息，并将所述导航信息发送到主控装置；所述主控装置将所述导航信息发送到控制台，以便所述控制台基于所述导航信息确定导航控制指令；所述主控装置接收到所述控制台发送的所述导航控制指令，基于所述导航控制指令控制所述行进驱动电机运行，用以调整AGV运输车的行进方向。
可选地，二维码读码器通过扫描二维码导航带中的二维码采集导航信息包括：所述二维码读码器从所述二维码中读取码值，并确定对于所述二维码的扫描角度和位置偏差；所述主控装置将所述导航信息发送到控制台、以便所述控制台基于所述导航信息确定导航控制指令包括：所述主控装置将所述码值、扫描角度和位置偏差发送到所述控制台；所述控制台基于所述码值、扫描角度和位置偏差生成导航控制指令；所述主控装置基于所述导航控制指令控制所述行进驱动电机运行包括：所述主控装置根据所述导航控制指令控制所述行进驱动电机运行，进行直行和/或转弯运动。
可选地，惯性导航传感器采集AGV运输车的加速度、角加速度信息，并将加速度、角加速度信息发送到所述主控装置；编码器采集AGV运输车的车轮转速信息，并将所述车轮转速信息发送给所述主控装置；所述主控装置将所述加速度、角加速度、车轮转速信息发送到所述控制台；所述控制台根据所述加速度、角加速度、车轮转速信息确定AGV运输车的运行状态，根据所述运动状态生成运行控制指令并发送给所述主控装置；所述主控装置根据所述运行控制指令控制所述行进驱动电机运行，调整和/或保持运行状态。
可选地，当AGV运输车进行转弯运动时，所述主控装置向所述旋转电机发送反向旋转指令；所述旋转电机根据所述反向旋转指令驱动所述举升转台相对于AGV运输车的转弯方向进行反向旋转，以使所述举升转台上的货物相对于地面保持方向不变。
可选地，所述主控装置监控所述电池装置的电量，当确定所述电池装置的电量下降到不可作业状态时，则在当前任务完成后控制所述AGV运输车运行到充电点进行充电。
可选地，所述行进驱动电机的数量为2个，所述行进驱动电机与主动轮一一对应设置，还包括：所述主控装置通过控制2个所述行进驱动电机实现直行和/或转弯运动。
可选地，障碍物检测装置检测到AGV运输车前方有障碍物，将检测结果发送给所述主控装置；所述主控装置控制所述行进驱动电机进行减速或停止，并向所述控制台发送告警消息。
由上述方案可知，本公开提供的AGV运输车及其控制方法，通过扫描二维码获得导航信息，对于仓库布局改动所花费的代价较小，并且日常维护简单；通过旋转时保持运送货物的方向不变，可以减少通道宽度，提高仓库存储密度。
通过以下参照附图对本公开的示例性实施例的详细描述，本公开的其它特征及其优点将会变得清楚。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本申请的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1为根据本公开的AGV运输车的一个实施例的组成示意图；
图2为二维码读码器确定对于二维码的扫描角度和位置偏差的示意图；
图3为根据本公开的AGV运输车的另一个实施例的组成示意图；
图4为根据各组成部件在AGV运输车上部署的示意图；
图5A为根据本公开的AGV运输车的又一个实施例的组成示意图；
图5B和5C为螺旋举升机构与旋转电机的结构示意图；
图6为根据本公开的AGV运输车的控制方法的一个实施例的流程示意图。
具体实施方式
下面参照附图对本公开进行更全面的描述，其中说明本公开的示例性实施例。下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本公开保护的范围。下面结合各个图和实施例对本公开的技术方案进行多方面的描述。
在一个实施例中，如图1所示，本公开提供一种AGV运输车，包括：二维码读码器11、主控装置10和行进驱动电机12。二维码读码器11通过扫描二维码导航带中的二维码采集导航信息，将导航信息发送到主控装置10。二维码导航带可以设置在地面上，由多个按一定间距排列的二维码组成。二维码一般贴在通道的中心线上并具有一定的角度，二维码信息为码值，通过码值可以获取当前位置在整个仓库中的位置坐标信息。
主控装置10将导航信息发送到控制台，控制台基于导航信息确定导航控制指令。主控装置10接收来自控制台的导航控制指令，基于导航控制指令控制行进驱动电机12运行，调整AGV运输车的行进方向。
二维码读码器11从二维码中读取码值，并确定对于二维码的扫描角度和位置偏差，导航信息包括：码值、扫描角度和位置偏差等。主控装置10将码值、扫描角度和位置偏差等信息发送到控制台，控制台基于码值确定AGV运输车当前的位置，即在仓库中所处的位置。通过扫描角度和位置偏差确定AGV运输车与通道中的二维码导航带的偏差，即AGV运输车是否运行在通道的中心线上，并且运行方向是否与贴在地面上的二维码的朝向一 致。控制台生成导航控制指令并发送到主控装置10，主控装置10根据导航控制指令控制行进驱动电机12运行，进行直行和/或转弯运动。
如图2所示，AGV运输车在行走通道上行驶，在经过地面上的二维码时，二维码读码器11扫描二维码并拍摄地面图像20。坐标系ABC为二维码的位置坐标系，OXY坐标系为二维码读码器11拍摄的地面图像20的坐标系。二维码读码器11从二维码中读取码值，并且通过二维码上的定位图像21，22，23计算出二维码的扫描偏角，以及与二维码的中心点的位置偏差。
定位图像21，22，23是所有二维码图形信息固定不变的位置处的三个图像。例如，定位图像21，22的中心连线与X轴的夹角为AGV运输车(即二维码读码器11)对于二维码的扫描角度。图像20的中心与二维码中心的距离为AGV运输车(即二维码读码器11)对于二维码的位置偏差。控制台根据调度计划以及码值、扫描角度和位置偏差等生成导航控制指令。
在仓库路面按照一定规则粘贴不同码值的二维码，形成二维码导航带，并将二维码对应的位置信息录入地图数据库。AGV运输车车体安装的二维码读码器11扫描地面上的二维码获得导航信息，比传统的磁带导航、RFID导航明显的优势在于：当仓库布局改动时，花费的代价很小，同时容易维护。
如图3所示，惯性导航传感器13采集AGV运输车的加速度、角加速度等信息等，并将加速度、角加速度等信息发送到主控装置10。编码器14采集AGV运输车的车轮转速信息，并将车轮转速信息发送给主控装置10。主控装置将加速度、角加速度、车轮转速等信息发送到控制台。控制台根据加速度、角加速度、车轮转速信息确定AGV运输车的运行状态，根据运动状态生成运行控制指令。主控装置10根据运行控制指令控制行进驱动电机运行，调整、保持运行状态。
可以采用二维码读码器11、惯性导航传感器13和编码器14进行综合导航、控制。二维码图像按照仓库布局设计在地面上铺设，二维码读码器11扫描二维码获得角度偏差、位置偏差、码值等，惯性导航传感器13获得加速度、角加速度信息，编码器14可以获得车轮速度信息，这些数据进行卡尔曼滤波可以精确知道小车的运动状态，能够对小车进行精确地导航、控制。
主控装置10通过控制行进驱动电机12实现直行、转弯运动。例如，2个主动轮分别设置在车体底部两侧，行进驱动电机12的数量为2个，行进驱动电机12与主动轮一一对应设置，并通过传动装置与主动轮连接。主控装置10控制2个行进驱动电机12的转速， 当转速相同，则2个主动轮转速相同，进行直行运送，当转速不相同，则2个主动轮转速不相同，进行转弯运动。
主控装置10通过控制举升电机18驱动举升转台上升或下降，举升转台用于托举货物。旋转电机16与举升转台通过传动机构连接，当AGV运输车进行转弯运动时，主控装置10向旋转电机16发送反向旋转指令，控制旋转电机16驱动举升转台相对于AGV运输车的转弯方向进行反向旋转，以使举升转台上的货物相对于地面保持方向不变。
当主控装置10接收到旋转指令时，通过差动控制算法控制行进驱动电机12进行转弯运动，并控制旋转电机16使举升转台做旋转运动，举升转台进行旋转方作相反速度相同的旋转运动，可以保持货物方向不变。通过AGV运输车的举升转台在运输过程中保持顶起的货物方向不变，能够减少在转弯过程中的货物掉落，并且通道预留宽度不需要预留太多的空间，减少仓储成本。
主控装置10监控电池装置17的电量，当确定电池装置17的电量下降到不可作业状态时，则在当前任务完成后控制AGV运输车运行到充电点进行充电。电池装置17的状态包括：电量满、可作业、不可作业装置。例如，电量满是指当前电量大于90％，不可作业指电量小于30％，可作业指电量大于30％小于90％。
在电量满的情况下如果没有新的任务，AGV运输车进入休眠状态。在可作业状态下，如果有任务则执行任务，如果没有任务则请求充电。在不可作业情况下，如果有任务则执行完当前任务，不再接受新任务，并请求充电。
障碍物检测装置15检测运行前方是否有障碍物，并将检测结果发送给主控装置。障碍物检测装置15可以通过雷达、超声波、图像分析等方式检测前方是否有障碍物。主控装置10可以通过WIFI、蓝牙、4G等方式接收控制台的命令，并且实时上报AGV运输车的状态信息。
控制台的任务包括控制AGV运输车直行、旋转、充电等。主控装置10监控整个AGV运输车的状态，包括电量、各个子系统的运行情况、是否有障碍物等情况，如果有异常，主控装置10首先控制AGV运输车减速或者停车，向控制台上报状态信息。
主控装置10可以实现为单片机、单板机、PLC、集成电路等。行进驱动电机12、旋转电机16、举升电机18等可以为步进电机、直流伺服电机等。主控装置10与行进驱动电机12、旋转电机16、举升电机18电连接，控制电机的运行。主控装置10可以通过总线等与二维码读码器11、惯性导航传感器13、编码器14、障碍物检测装置15等连接，接收或发送信息。传动机构可以为链传动、带传动、齿轮传动等。
如图4所示，从动轮19、20、21、22可以为万向轮，安装在AGV运输车的4个角，起到支撑的作用。AGV运输车使用两个主动轮，主动轮23和24可以使用包胶轮，对主动轮23和24进行差动控制，控制AGV运输车直行、旋转。行进驱动电机12、12’及传动装置驱动主动轮23和24运行。举升电机18驱动顶升装置进行顶起、落下。旋转电机16在AGV运输车旋转时，需要用旋转电机16施加反向驱动力，保持顶升的货架不旋转。
二维码读码器11读取地面上的二维码的数值、方向角及距离偏差等信息。二维码传感器25读取货架底部的二维码数值。电池装置17提供电源。AGV运输车可以双向行驶，障碍物检测装置15、15’检测检测前方是否有障碍物。主控装置10可以使用嵌入式ARM作为核心处理器，包含WiFi接口、CAN接口、485接口、422接口等。运动控制器26可以控制各个电机的运动。充电装置27能够进行自动充电。指示装置28，包括指示灯、扬声器等。
在一个实施例中，如图5A所示，本公开提供一种AGV运输车，包括：旋转电机16和主控装置10。旋转电机10与举升转台通过传动机构连接，传动机构包括：齿轮传动机构、链传动机构等。主控装置10根据AGV运输车的转弯运动向旋转电机16发送反向旋转指令，控制旋转电机16驱动举升转台相对于AGV运输车的转弯方向进行反向旋转，以使举升转台上的货物相对于地面保持方向不变。
AGV运输车的举升机构可以为螺旋旋转举升机构。例如，如图5B、5C所示，螺旋旋转举升机构包括：举升电机18、齿轮传动机构、举升转台56、举升板55、齿轮盘52等。齿轮盘52外圆上的齿轮与齿轮传动机构的齿轮51啮合。在齿轮盘的中心设置有内螺纹孔，内螺纹孔与螺杆的底部(图中未画出)配合，螺杆的顶部与举升板55固定连接，举升转台56与举升板55通过轴承连接。旋转电机16通过齿轮传动机构与举升转台56相连接，举升转台56外圆上的齿轮与齿轮传动机构的齿轮54啮合。可以在举升转台56上安装盖板，盖板与运输的货物接触，可以通过设置行程开关确定举升转台56的升限。
主控装置10控制举升电机18旋转，通过齿轮51带动齿轮盘52旋转，齿轮盘52的高度不变，则螺杆带动举升板55以及举升转台56上升、下降，旋转电机16、齿轮54等随着举升转台56上升、下降。主控装置10向旋转电机16发送反向旋转指令，控制旋转电机16驱动齿轮54并带动举升转台56旋转，使举升转台56相对于AGV运输车的转弯方向进行反向旋转，以使举升转台56以及盖板上的货物相对于地面保持方向不变。
上述实施例中的AGV运输车及其控制方法，采用二维码读码器、惯性导航传感器和编码器进行综合导航、控制，能够对小车进行精确地导航、控制；通过旋转时保持运送货物 的方向不变，可以减少通道宽度，提高仓库存储密度；采用低功耗设计，可以自动充电，能够进行24小时工作能够，降低仓库的运营成本。
图6为根据本公开的AGV运输车的控制方法的一个实施例的流程示意图，如图6所示：
步骤601，二维码读码器通过扫描二维码导航带中的二维码采集导航信息，并将导航信息发送到主控装置。
步骤602，主控装置将导航信息发送到控制台，以便控制台基于导航信息确定导航控制指令。
步骤603，主控装置接收到控制台发送的导航控制指令，基于导航控制指令控制行进驱动电机运行，用以调整AGV运输车的行进方向。
二维码读码器从二维码中读取码值，并确定对于二维码的扫描角度和位置偏差。主控装置将码值、扫描角度和位置偏差发送到控制台，控制台基于码值、扫描角度和位置偏差生成导航控制指令。主控装置根据导航控制指令控制行进驱动电机运行，进行直行和/或转弯运动。
惯性导航传感器采集AGV运输车的加速度、角加速度信息，并将加速度、角加速度信息发送到主控装置。编码器采集AGV运输车的车轮转速信息，并将车轮转速信息发送给主控装置。主控装置将加速度、角加速度、车轮转速信息发送到控制台，控制台根据加速度、角加速度、车轮转速信息确定AGV运输车的运行状态，根据运动状态生成运行控制指令。主控装置根据运行控制指令控制行进驱动电机运行，调整、保持运行状态。
行进驱动电机的数量为2个，行进驱动电机与主动轮一一对应设置，主控装置通过控制2个行进驱动电机实现直行和/或转弯运动。当AGV运输车进行转弯运动时，主控装置向旋转电机发送反向旋转指令。旋转电机根据反向旋转指令驱动举升转台相对于AGV运输车的转弯方向进行反向旋转，以使举升转台上的货物相对于地面保持方向不变。
主控装置监控电池装置的电量，当确定电池装置的电量下降到不可作业状态时，则在当前任务完成后控制AGV运输车运行到充电点进行充电。障碍物检测装置检测到AGV运输车前方有障碍物，将检测结果发送给主控装置。主控装置控制行进驱动电机进行减速或停止，并向控制台发送告警消息。
上述实施例中的AGV运输车及其控制方法，通过扫描二维码获得导航信息，对于仓库布局改动所花费的代价较小，并且日常维护简单；可以采用二维码读码器、惯性导航传感器和编码器进行综合导航、控制，能够对小车进行精确地导航、控制；通过旋转时保持运 送货物的方向不变，可以减少通道宽度，提高仓库存储密度；采用低功耗设计，可以自动充电，能够进行24小时工作；可以应用于电商的自动化拣选，适用于电商的仓库的密度大，订单突发等场景，可以大大减低人员数量，降低仓库的运营成本。
可能以许多方式来实现本公开的方法和系统。例如，可通过软件、硬件、固件或者软件、硬件、固件的任何组合来实现本公开的方法和系统。用于方法的步骤的上述顺序仅是为了进行说明，本公开的方法的步骤不限于以上具体描述的顺序，除非以其它方式特别说明。此外，在一些实施例中，还可将本公开实施为记录在记录介质中的程序，这些程序包括用于实现根据本公开的方法的机器可读指令。因而，本公开还覆盖存储用于执行根据本公开的方法的程序的记录介质。
本公开的描述是为了示例和描述起见而给出的，而并不是无遗漏的或者将本公开限于所公开的形式。很多修改和变化对于本领域的普通技术人员而言是显然的。选择和描述实施例是为了更好说明本公开的原理和实际应用，并且使本领域的普通技术人员能够理解本公开从而设计适于特定用途的带有各种修改的各种实施例。

Claims (16)

  1. 一种AGV运输车，包括行进驱动电机，还包括：
    二维码读码器，用于通过扫描二维码导航带中的二维码采集导航信息，并将所述导航信息发送到主控装置；
    所述主控装置，用于将所述导航信息发送到控制台，以便所述控制台基于所述导航信息确定导航控制指令；接收来自所述控制台的所述导航控制指令，基于所述导航控制指令控制所述行进驱动电机运行，用以调整AGV运输车的行进方向。
  2. 如权利要求1所述的AGV运输车，其中，
    所述二维码读码器从所述二维码中读取码值，并确定对于所述二维码的扫描角度和位置偏差；所述主控装置将所述码值、扫描角度和位置偏差发送到所述控制台；所述控制台基于所述码值、扫描角度和位置偏差生成导航控制指令并发送到所述主控装置；所述主控装置根据所述导航控制指令控制所述行进驱动电机运行，进行直行和/或转弯运动。
  3. 如权利要求1或2所述的AGV运输车，还包括：
    惯性导航传感器，用于采集AGV运输车的加速度、角加速度信息，并将加速度、角加速度信息发送到所述主控装置；
    编码器，用于采集AGV运输车的车轮转速信息，并将所述车轮转速信息发送给所述主控装置；
    所述主控装置将所述加速度、角加速度、车轮转速信息发送到所述控制台；所述控制台根据所述加速度、角加速度、车轮转速信息确定AGV运输车的运行状态，根据所述运动状态生成运行控制指令并发送给所述主控装置；所述主控装置根据所述运行控制指令控制所述行进驱动电机运行，调整和/或保持运行状态。
  4. 如权利要求1所述的AGV运输车，还包括：
    旋转电机；所述旋转电机与举升转台通过传动机构连接；当AGV运输车进行转弯运动时，所述主控装置向所述旋转电机发送反向旋转指令，控制所述旋转电机驱动所述举升转台相对于AGV运输车的转弯方向进行反向旋转，以使所述举升转台上的货物相对于地面保持方向不变。
  5. 如权利要求1所述的AGV运输车，还包括：
    电池装置；所述主控装置监控所述电池装置的电量，当确定所述电池装置的电量下降到不可作业状态时，则在当前任务完成后控制所述AGV运输车运行到充电点进行充电。
  6. 如权利要求1所述的AGV运输车，还包括：
    分别设置在车体底部两侧的2个主动轮；所述行进驱动电机的数量为2个，所述行进驱动电机与所述主动轮一一对应设置，并通过传动装置与所述主动轮连接；所述主控装置通过控制2个所述行进驱动电机实现直行和/或转弯运动。
  7. 如权利要求1所述的AGV运输车，还包括：
    障碍物检测装置，用于检测运行前方是否有障碍物，并将检测结果发送给所述主控装置。
  8. 一种AGV运输车，包括：
    旋转电机和主控装置；所述旋转电机与举升转台通过传动机构连接；所述主控装置根据AGV运输车的转弯运动向所述旋转电机发送反向旋转指令，控制所述旋转电机驱动所述举升转台相对于AGV运输车的转弯方向进行反向旋转，以使所述举升转台上的货物相对于地面保持方向不变。
  9. 如权利要求8所述的AGV运输车，其中，
    所述传动机构包括：齿轮传动机构。
  10. 一种AGV运输车的控制方法，包括：
    二维码读码器通过扫描二维码导航带中的二维码采集导航信息，并将所述导航信息发送到主控装置；
    所述主控装置将所述导航信息发送到控制台，以便所述控制台基于所述导航信息确定导航控制指令；
    所述主控装置接收到所述控制台发送的所述导航控制指令，基于所述导航控制指令控制所述行进驱动电机运行，用以调整AGV运输车的行进方向。
  11. 如权利要求10所述的控制方法，其中，二维码读码器通过扫描二维码导航带中的二维码采集导航信息包括：
    所述二维码读码器从所述二维码中读取码值，并确定对于所述二维码的扫描角度和位置偏差；
    所述主控装置将所述导航信息发送到控制台、以便所述控制台基于所述导航信息确定导航控制指令包括：
    所述主控装置将所述码值、扫描角度和位置偏差发送到所述控制台；所述控制台基于所述码值、扫描角度和位置偏差生成导航控制指令；
    所述主控装置基于所述导航控制指令控制所述行进驱动电机运行包括：
    所述主控装置根据所述导航控制指令控制所述行进驱动电机运行，进行直行和/或转弯运动。
  12. 如权利要求10或11所述的控制方法，还包括：
    惯性导航传感器采集AGV运输车的加速度、角加速度信息，并将加速度、角加速度信息发送到所述主控装置；编码器采集AGV运输车的车轮转速信息，并将所述车轮转速信息发送给所述主控装置；
    所述主控装置将所述加速度、角加速度、车轮转速信息发送到所述控制台；
    所述控制台根据所述加速度、角加速度、车轮转速信息确定AGV运输车的运行状态，根据所述运动状态生成运行控制指令并发送给所述主控装置；
    所述主控装置根据所述运行控制指令控制所述行进驱动电机运行，调整和/或保持运行状态。
  13. 如权利要求10所述的控制方法，还包括：
    当AGV运输车进行转弯运动时，所述主控装置向所述旋转电机发送反向旋转指令；
    所述旋转电机根据所述反向旋转指令驱动所述举升转台相对于AGV运输车的转弯方向进行反向旋转，以使所述举升转台上的货物相对于地面保持方向不变。
  14. 如权利要求10所述的控制方法，还包括：
    所述主控装置监控所述电池装置的电量，当确定所述电池装置的电量下降到不可作业状态时，则在当前任务完成后控制所述AGV运输车运行到充电点进行充电。
  15. 如权利要求10所述的控制方法，所述行进驱动电机的数量为2个，所述行进驱动电机与主动轮一一对应设置，还包括：
    所述主控装置通过控制2个所述行进驱动电机实现直行和/或转弯运动。
  16. 如权利要求10所述的控制方法，还包括：
    障碍物检测装置检测到AGV运输车前方有障碍物，将检测结果发送给所述主控装置；
    所述主控装置控制所述行进驱动电机进行减速或停止，并向所述控制台发送告警消息。
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